US11709057B2 - Method and system for finding handling trolleys - Google Patents
Method and system for finding handling trolleys Download PDFInfo
- Publication number
- US11709057B2 US11709057B2 US16/080,963 US201716080963A US11709057B2 US 11709057 B2 US11709057 B2 US 11709057B2 US 201716080963 A US201716080963 A US 201716080963A US 11709057 B2 US11709057 B2 US 11709057B2
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- trolley
- reference frame
- measurement data
- premises
- angular motion
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- 238000000034 method Methods 0.000 title claims description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 132
- 238000005259 measurement Methods 0.000 claims abstract description 80
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000003032 molecular docking Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 2
- 230000000284 resting effect Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G05D2201/0216—
Definitions
- the present invention relates to locating handling trolleys in a premises.
- Such handling trolleys which may possibly run on rails, are in widespread use for transporting goods, e.g. on industrial production sites.
- Proposals have also been made to fit trolleys with telecommunications modules arranged to transmit signals to stationary telecommunications beacons arranged in the premises at predetermined positions in such a manner that, regardless of its position in the premises, each trolley is in range of a plurality of telecommunications beacons simultaneously.
- the position of each trolley can be determined by measuring the travel times of signals between said trolleys and a plurality of telecommunications beacons. Nevertheless, it appears to be difficult to obtain sufficiently accurate localization of trolleys by such means.
- Such a unit comprises a linear motion detector device having accelerometers arranged on the axes of a detection reference frame.
- the accelerometers provide linear motion data corresponding to the acceleration of the trolley along the axes in question, and from that acceleration it is possible to determine a speed and a position for the trolley relative to the detection reference frame.
- the unit also has a device for detecting angular motion, which device comprises gyros arranged on the axes of the detection reference frame in order to measure the movements of the detection reference frame relative to a datum reference frame in order to convert the position coordinates of the trolley in the detection reference frame into position coordinates in the datum reference frame.
- the accuracy of such a unit is relatively poor since it is necessary periodically to correct the positioning data it provides.
- An object of the invention is to enable trolleys in a premises to be located relatively accurately and inexpensively.
- the invention provides a system for locating at least one movable trolley in a premises.
- the system comprises at least one communications beacon having range that covers the premises and that is connected to a control computer unit, and at least one electronic module that is on board the trolley.
- the onboard electronic module comprises a transmitter device arranged to transmit positioning data to the communications beacon, and an inertial motion detector unit that comprises a device for detecting linear motion along axes of a detection reference frame and a device for detecting angular motion about the axes of the detection reference frame, and that is arranged to provide positioning data on the basis of the linear motion measurement data and the angular motion measurement data.
- the module is mounted on an element of the trolley such that any movement of the trolley in the premises gives rise to an angular movement of the element, the system being arranged to detect that the trolley has stopped whenever the angular motion measurement data corresponds to zero angular motion at a measurement instant and then to reset to zero the speeds calculated on the basis of the linear motion measurement data corresponding to the same measurement instant.
- any movement of the trolley leads to angular motion of the element and thus to angular motion of the onboard electronic module, and conversely when the trolley is stationary, the element, and thus its onboard electronic module, are likewise stationary.
- the angular motion detector device can be used reliably to detect movement of the trolley even if it is moving at constant speed, and also to detect any stopping of the trolley. As a result it is possible to correct errors in the linear motion detector device, thereby making the resulting position measurement more reliable.
- the invention also provides a locating method, the method comprising the following steps:
- the invention also provides:
- FIG. 1 is a diagrammatic perspective view of a system of the invention
- FIG. 2 is a diagrammatic perspective view of a trolley in this system
- FIG. 3 is a side view of a wheel of the trolley.
- FIG. 4 is a diagrammatic perspective view of an onboard electronic module fitted to the wheel.
- the invention is described below with reference to trolleys such as the “Rollis” trolley given overall reference 1 , traveling in a premises 100 , such as a warehouse, and fitted with a “LoRa” telecommunications network.
- a premises 100 such as a warehouse
- the invention can be used with other telecommunications networks, and for example with “LTEM” or “ZIGBEE” networks; operating in the ISM frequency band or in some other frequency band, e.g. the 434 megahertz (MHz) or the 2.4 gigahertz (GHz) frequency bands, and regardless of whether these networks are networks that are proprietary or public.
- the infrastructure of the network comprises communications beacons 200 that are distributed over the premises 100 at predetermined positions of coordinates that are known (e.g. by using a receiver for satellite signals such as GPS signals).
- the communications beacons 200 comprise transceiver means operating with the selected communications protocol and an antenna tuned to the selected communications frequency band.
- the communications beacons 200 are connected to a computer server 300 forming a control unit and executing a program for tracking the trolleys 1 in the premises 100 .
- the computer server 300 has a memory storing the identifiers and the positions of the communications beacons 200 and also the identifiers and the successive positions of each of the trolleys 1 .
- this memory may contain the program for tracking the trolleys 1 and other information about the communications beacons 200 , such as their technical characteristics, and information about the trolleys, such as their loading, their maintenance scheduling, etc.
- the trolley 1 has a chassis 2 in the form of a platform with four wheels 3 mounted underneath it to rotate about horizontal axes.
- Each wheel 3 has a hub 4 from which spokes 5 extend, connecting the hub 4 to a rim 6 .
- the rim 6 has a tire band 7 thereon.
- One of the spokes 5 of the wheels 3 has an onboard electronic module 10 fastened thereto.
- This onboard electronic module comprises an electronic unit 11 mounted on a support 12 , in this example in the form of an elastically deformable metal clip that is engaged by force on said spoke 5 .
- the electronic unit 11 has a transmitter device, an inertial motion detection unit for detecting motion, and a battery for providing power.
- the transmitter device itself known, is arranged to transmit positioning data to the communications beacons 200 .
- the inertial motion detector unit itself known, is made in the form of a micro-electromechanical system (MEMS) and includes a device for detecting linear motion along axes X′, Y′, Z′ of a reference frame and a device for detecting angular motion about the axes X′, Y′, Z′ of the reference frame relative to a datum or “Galilean” reference frame.
- MEMS micro-electromechanical system
- the inertial detector unit is arranged to prepare positioning data on the basis of measurement data concerning the linear motion as supplied by the linear motion detector device and measurement data concerning the angular motion as prepared by the angular motion detector device.
- the linear motion detector device comprises accelerometers that are positioned to measure respective acceleration components along the axes X′, Y′, and Z′
- the angular motion detection device comprises gyros positioned to measure angular velocities about each of the axes X′, Y′, and Z′ of the datum reference frame.
- the positioning data prepared by the inertial unit on the basis of the measurement data comprises the coordinates of the inertial detector unit in a local X, Y, Z reference frame that is fixed, and as specified below in the description.
- the system also has a base 50 for receiving trolleys 1 in a predetermined orientation.
- the base includes a device for recharging a battery on board the trolley. Recharging is performed by induction.
- the base is arranged in the premises 100 at a stationary position of known GPS coordinates. This position corresponds to the origin of the local X, Y, Z reference frame of orientation relative to the datum or “Galilean” reference frame that is known.
- the base has means for positioning one of the trolleys 1 in a predetermined position and in a predetermined orientation. An operator must also orient its wheel 3 carrying the onboard electronic module 10 about its axis so as to bring it into a predetermined orientation.
- the inertial detector unit has its detection X′, Y′, Z′ reference frame positioned and oriented at a predetermined offset from the local X, Y, Z reference frame.
- This predetermined offset is represented by the following offset data: a position difference between the origin of the detection X′, Y′, Z′ reference frame and the origin of the local X, Y, Z reference frame; an angular offset between the axes X and X′; an angular offset between the axes Y and Y′; and an angular offset between the axes Z and Z′.
- the system is arranged to initialize an origin for the movements of the trolley 1 in the premises 100 when the trolley 1 is in position in the base.
- initial communication is set up between the computer server 300 and the onboard electronic module 10 of said trolley 1 .
- the offset data is transmitted to the onboard electronic module 10 and thus to the inertial detector unit, which can determine its position relative to the local X, Y, Z reference frame and thus subsequently prepare corresponding positioning data.
- This initial communication is initiated by the onboard electronic module 10 via the communications beacons 200 and it continues in the same manner.
- the inertial detector unit of the onboard electronic module 10 is arranged to operate periodically to calculate positioning data on the basis of: linear motion measurement data; angular motion measurement data; the offset data; and the original position.
- the onboard electronic module 10 is arranged to act periodically to enter into communication with the computer server 300 via the communications beacons 200 and to transmit the positioning data thereto.
- the onboard electronic module periodically transmits the positioning data that is prepared progressively during its movement.
- the inertial detector unit of the onboard electronic module is arranged to detect that the trolley 1 has stopped whenever the angular motion measurement data corresponds to zero angular motion at a measurement instant, and then to zero the speeds calculated on the basis of the linear motion measurement data corresponding to the same measurement instant. This makes it possible to detect errors in the accelerometers and to correct or compensate those errors so as to improve locating accuracy.
- angular motion is considered as zero when the angular motion measurement data indicates motion of an amplitude that is below a predetermined threshold. This makes it possible both to avoid taking account of vibration that might give rise to oscillation of the wheel 3 of the trolley 1 on which the onboard electronic module is fastened, and also to avoid taking account of gyro error.
- the method of the invention thus comprises the following steps:
- the onboard electronic module 10 includes a magnetic field sensor and the base 50 includes a magnetic device arranged to emit a magnetic field that is put into alignment in succession with the axes X, Y, Z of the local reference frame.
- the onboard electronic module is arranged to determine the offset between the detection X′, Y′, Z′ reference frame and the local X, Y, Z reference frame and to take that offset into account in the positioning data.
- the magnetic device comprises a magnetic circuit that is arranged to emit a magnetic field in a given direction and that is mounted on a motor-driven steerable support that enables said direction to be put into alignment in succession with each of the three axes X, Y, and Z of the reference frame.
- the magnetic device comprises a first electromagnetic circuit arranged, when powered, to emit a magnetic field aligned on the axis X, a second electromagnetic circuit arranged, when powered, to emit a magnetic field aligned on the axis Y of the reference frame, and a third electromagnetic circuit arranged, when powered, to emit a magnetic field aligned on the axis Z of the reference frame.
- the electromagnetic circuits are connected to a power supply circuit that enables one or another of the electromagnetic circuits to be powered selectively.
- two electromagnetic circuits are mounted on a support that is steerable about one of the axes of the reference frame, e.g. the axis Z, and the first electromagnetic circuit is arranged to emit a magnetic field aligned with the axis Z in such a manner that the magnetic field produced by the second electromagnetic circuit can be aligned on the axis X or on the axis Y by using the motor drive means of the support.
- the trolley 1 is taken to the base 50 without it being necessary to orient the wheel 3 having the onboard electronic module 10 fastened thereto, and the method of the invention comprises the following steps:
- the magnetic field is emitted in the following sequence:
- the different emission durations enable the onboard electronic module 10 to identify the axes X, Y, and Z.
- the trolley may have a plurality of onboard electronic modules.
- each of the modules may be fastened on wheels in such a manner that a difference between the positions calculated by two modules triggers a maintenance operation to verify proper operation of the associated wheel.
- the onboard electronic module may be fastened by any means, and preferably remains removable, for example it may be fastened by screws, bolts, clip-fastening, . . . , however it could equally well be fastened by adhesive or any other permanent fastener means.
- the onboard electronic module may be fastened to an element connected to at least one rotary wheel, e.g. a disk rubbing against the wheel or a pulley connected thereto via a belt.
- the onboard electronic module may also be fastened to a pendulum mounted on the trolley in such a manner that any movement of the trolley starts oscillation of the pendulum.
- the initial coordinates may be determined on the basis of satellite positioning signals or by any other means.
- the position of the trolley is calculated by the computer server on the basis of the linear motion measurement data and the angular motion measurement data supplied by the onboard electronic module via the communications beacons.
- the communications beacon(s) may form part of the infrastructure of a network external to the premises.
- the battery of the module may be outside the module or it may be incorporated therein.
- the battery of the module need not be rechargeable, in which case the base does not include a charger device.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
-
- initializing the initial coordinates of the trolley relative to a local reference frame of the premises and determining an offset between the detection reference frame and the local reference frame;
- detecting movement of the trolley in the premises and determining the position of the trolley from the linear motion measurement data, the angular motion measurement data, the initial coordinates, and the offset between the local reference frame and the detection reference frame; and
- detecting that the trolley has stopped whenever the angular motion measurement data corresponds to zero angular motion at a measurement instant and then setting to zero the speeds calculated from the linear motion measurement data corresponding to the same measurement instant.
-
- a computer program including instructions for enabling computer server type equipment to perform the locating method;
- storage means containing such a computer program;
- a magnetic device including at least one magnetic circuit arranged to emit a magnetic field aligned on a first axis of a reference frame also having a second axis and a third axis, the magnetic device being characterized in that it is arranged to emit a magnetic field that is aligned in succession on the first axis, on the second axis, and on the third axis of the reference frame in order to perform the locating method;
- a docking base for receiving a trolley, the base including such a magnetic device; and
- an onboard electronic module for a trolley, the module including a detector device for detecting magnetic fields emitted by such a magnetic device.
-
- initiating initial coordinates for the
trolley 1 relative to the local X, Y, Z reference frame of thepremises 100 and determining an offset of the detection X′, Y′, Z′ reference frame relative to the local X, Y, Z reference frame; - detecting movements of the
trolley 1 in thepremises 100 and determining the position of thetrolley 1 on the basis of the linear motion measurement data, the angular motion measurement data, the initial coordinates, and the offset between the local X, Y, Z reference frame and the detection X′, Y′, Z′ reference frame; and - detecting that the
trolley 1 has stopped whenever the angular motion measurement data corresponds to zero angular motion at a measurement instant, and then zeroing the speeds calculated from the linear motion measurement data corresponding to the same measurement instant.
- initiating initial coordinates for the
-
- controlling the magnetic device to emit a magnetic field at the base 50 successively in alignment with each of the axes X, Y, and Y of the local reference frame;
- causing the magnetic field to be detected by the magnetometer of the onboard electronic module; and
- determining the offset between the detection X′, Y′, Z′ reference frame and the local X, Y, Z reference frame and taking account of that offset when preparing positioning data.
-
- one second in alignment with the axis X;
- two seconds in alignment with the axis Y; and
- three seconds in alignment with the axis Z.
Claims (14)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1652421 | 2016-03-21 | ||
FR1652421A FR3049058B1 (en) | 2016-03-21 | 2016-03-21 | METHOD AND SYSTEM FOR LOCATING HANDLING TROLLEYS |
PCT/EP2017/055867 WO2017162463A1 (en) | 2016-03-21 | 2017-03-13 | Method and system for finding handling trolleys |
Publications (2)
Publication Number | Publication Date |
---|---|
US20190025058A1 US20190025058A1 (en) | 2019-01-24 |
US11709057B2 true US11709057B2 (en) | 2023-07-25 |
Family
ID=56511667
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/080,963 Active 2038-11-07 US11709057B2 (en) | 2016-03-21 | 2017-03-13 | Method and system for finding handling trolleys |
Country Status (5)
Country | Link |
---|---|
US (1) | US11709057B2 (en) |
EP (1) | EP3433579A1 (en) |
CN (1) | CN108885107A (en) |
FR (1) | FR3049058B1 (en) |
WO (1) | WO2017162463A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6997871B2 (en) * | 2018-06-22 | 2022-01-18 | ローム株式会社 | Position detection system |
CN110116668A (en) * | 2019-05-20 | 2019-08-13 | 江苏航空职业技术学院 | A kind of goods transport systems |
Citations (10)
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GB1353374A (en) | 1970-06-25 | 1974-05-15 | Stephanois Rech Mec | Storage installation |
JP2002132886A (en) * | 2000-10-23 | 2002-05-10 | Nippon Telegr & Teleph Corp <Ntt> | Shopping cart system |
US20090262974A1 (en) * | 2008-04-18 | 2009-10-22 | Erik Lithopoulos | System and method for obtaining georeferenced mapping data |
FR3000542A1 (en) | 2012-12-27 | 2014-07-04 | Alstom Transport Sa | METHOD FOR EVALUATING THE SPEED OF A RAILWAY VEHICLE |
US9145067B1 (en) * | 2014-06-05 | 2015-09-29 | Shane J Dahlen | System and method of monitoring and controlling motorized passenger carts |
US20150345952A1 (en) | 2013-01-23 | 2015-12-03 | Trusted Positioning Inc. | Method and Apparatus for Improved Navigation for Cycling |
US20160075177A1 (en) | 2014-04-04 | 2016-03-17 | Superpedestrian, Inc. | User interface for a motorized wheel |
US20170113342A1 (en) * | 2015-10-21 | 2017-04-27 | F Robotics Acquisitions Ltd. | Domestic Robotic System |
US10546502B2 (en) * | 2015-09-04 | 2020-01-28 | Gatekeeper Systems, Inc. | Estimating motion of wheeled carts |
US10678421B2 (en) * | 2013-01-04 | 2020-06-09 | Starbreeze Paris | Control of a host station through movement of a moving device |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
MY194068A (en) * | 2012-03-26 | 2022-11-10 | MDT Innovations SdN Bhd | Ubiquitous monitoring of trolleys |
GB2513912B (en) * | 2013-05-10 | 2018-01-24 | Dyson Technology Ltd | Apparatus for guiding an autonomous vehicle towards a docking station |
CN103264393B (en) * | 2013-05-22 | 2015-04-22 | 常州铭赛机器人科技股份有限公司 | Use method of household service robot |
DE102013209462A1 (en) * | 2013-05-22 | 2014-11-27 | Fraunhofer Portugal Research | Self-calibrating infrastructure system for local position recognition |
US20150260543A1 (en) * | 2014-03-13 | 2015-09-17 | Indooratlas Oy | Background calibration |
-
2016
- 2016-03-21 FR FR1652421A patent/FR3049058B1/en active Active
-
2017
- 2017-03-13 US US16/080,963 patent/US11709057B2/en active Active
- 2017-03-13 CN CN201780019290.6A patent/CN108885107A/en active Pending
- 2017-03-13 WO PCT/EP2017/055867 patent/WO2017162463A1/en active Application Filing
- 2017-03-13 EP EP17710282.9A patent/EP3433579A1/en active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1353374A (en) | 1970-06-25 | 1974-05-15 | Stephanois Rech Mec | Storage installation |
JP2002132886A (en) * | 2000-10-23 | 2002-05-10 | Nippon Telegr & Teleph Corp <Ntt> | Shopping cart system |
US20090262974A1 (en) * | 2008-04-18 | 2009-10-22 | Erik Lithopoulos | System and method for obtaining georeferenced mapping data |
FR3000542A1 (en) | 2012-12-27 | 2014-07-04 | Alstom Transport Sa | METHOD FOR EVALUATING THE SPEED OF A RAILWAY VEHICLE |
US10678421B2 (en) * | 2013-01-04 | 2020-06-09 | Starbreeze Paris | Control of a host station through movement of a moving device |
US20150345952A1 (en) | 2013-01-23 | 2015-12-03 | Trusted Positioning Inc. | Method and Apparatus for Improved Navigation for Cycling |
US20160075177A1 (en) | 2014-04-04 | 2016-03-17 | Superpedestrian, Inc. | User interface for a motorized wheel |
US9145067B1 (en) * | 2014-06-05 | 2015-09-29 | Shane J Dahlen | System and method of monitoring and controlling motorized passenger carts |
US10546502B2 (en) * | 2015-09-04 | 2020-01-28 | Gatekeeper Systems, Inc. | Estimating motion of wheeled carts |
US20170113342A1 (en) * | 2015-10-21 | 2017-04-27 | F Robotics Acquisitions Ltd. | Domestic Robotic System |
Also Published As
Publication number | Publication date |
---|---|
FR3049058A1 (en) | 2017-09-22 |
CN108885107A (en) | 2018-11-23 |
US20190025058A1 (en) | 2019-01-24 |
FR3049058B1 (en) | 2019-06-14 |
WO2017162463A1 (en) | 2017-09-28 |
EP3433579A1 (en) | 2019-01-30 |
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